二層構造流体指内のテクスチャパターンが圧力分布に与える影響

抄録

The two-layer fluid finger with texture structure inside has been developed to realize the ability to grasp various objects with a small degree of freedom. In this study, in order to investigate the effect of pressure distribution due to the texture structure, the pressure distribution on the contact surface when the object was grasped with using the fluid finger with the texture structure was investigated. In addition, the relationship between the texture shape and grasping performance was investigated by observing the pressure distribution on the contact surface when changing the texture shape, finger internal pressure, and pitch interval.